---
title: "An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles"
authors:
  - "Eugene Grechanovsky"
  - "Ilia Pinsker"
doi: ""
url: "https://ijcai.org/proceedings/1983/195"
pdf: "https://ijcai.org/proceedings/1983/0195.pdf"
venue: "Proceedings of the Eighth International Joint Conference on Artificial Intelligence"
year: 1983
pages: "807-812"
track: "Robotics"
keywords:
---

# An Algorithm for Moving a Computer-Controlled Manipulator While Avoiding Obstacles

Eugene Grechanovsky, Ilia Pinsker

*Proceedings of the Eighth International Joint Conference on Artificial Intelligence*, pages 807-812.

## Abstract

In programming a computer to control a manipulator, the problem of avoiding obstaclespresent in the environment must be faced . This paper presents a simple world model containing the manipulator as well as obstacles, and describes an algorithm for guiding the manipulator to a speci-fied destination point while avoiding collisions with obstacles . The algorithm combines a number of heuristics with a method for stepwise optimization based on a linear programming technique. A brief description of the computer program AVOID and a sample of computer simulated tasks solved by it are presented.